Installation and Deployment

Software

• OS: openEuler 22.03 LTS SP3

Hardware

• x86_64

Preparing the Environment

• Install the openEuler OS by referring to the openEuler 22.03 LTS SP3 Installation Guide.

1. ROS2

1. ros-humble

1. Installing ros-humble

1. Install ros-humble software package

   yum install openeuler-ros
   yum install ros-humble-ros-base ros-humble-xxx e.g. ros-humble-turtlesim
   

2. Run the following command to check whether the installation is successful

   rpm -q ros-humble
   

2. Test ros-humble

Run turtlesim

1. Run turtlesim

   source /opt/ros/humble/setup.bash
   ros2 run turtlesim turtlesim_node
   

2. Open turtlesim terminal

   source /opt/ros/humble/setup.bash
   ros2 run turtlesim turtle_teleop_key
   

3. Use the arrow keys to control the movement of the turtle

2. ros-foxy

1. Installing ros-foxy-ros-base

1. Download the software package

   wget http://121.36.3.168:82/home:/Chenjy3_22.03/openEuler_22.03_LTS_standard_x86_64/x86_64/ros-foxy-ros-base-0.9.2-2.oe2203.x86_64.rpm
   

2. Install the rpm package

   rpm -ivh --nodeps --force ros-foxy-ros-base-0.9.2-2.oe2203.x86_64.rpm
   

3. Dependence installation

   sh /opt/ros/foxy/install_dependence.sh
   

4. Run the following command to check whether the installation is successful

   rpm -q ros-foxy-ros-base
   

2. Test ros-foxy-ros-base

Run turtlesim

1. Run turtlesim

   source /opt/ros/foxy/setup.bash
   ros2 run turtlesim turtlesim_node
   

2. Open turtlesim terminal

   source /opt/ros/foxy/setup.bash
   ros2 run turtlesim turtle_teleop_key
   

3. Use the arrow keys to control the movement of the turtle

   

2. ROS

1. ros-noetic

1. Installing ros-noetic-ros-comm

1. Download the software package

   wget http://121.36.3.168:82/home:/davidhan:/branches:/openEuler:/22.03:/LTS:/SP1:/Epol/standard_x86_64/x86_64/ros-noetic-ros-comm-1.15.11-2.oe2203.x86_64.rpm
   

2. Install the rpm package

   rpm -ivh --nodeps --force ros-noetic-ros-comm-1.15.11-2.oe2203.x86_64.rpm
   

3. Dependence installation

   sh /opt/ros/noetic/install_dependence.sh
   

4. Run the following command to check whether the installation is successful

   rpm -q ros-noetic-ros-comm
   

2. Test ros-noetic-ros-comm

Run topic_demo

1. Create and compile workspace

   mkdir -p catkin_ws/src
   cd catkin_ws/src/
   source /opt/ros/noetic/setup.bash
   catkin_init_workspace
   git clone https://gitee.com/davidhan008/topic_demo.git
   cd ..
   catkin_make
   

2. run roscore

   source /opt/ros/noetic/setup.bash
   roscore
   

3. run topic_demo talker

   source /opt/ros/noetic/setup.bash
   cd catkin_ws
   source devel/setup.bash
   rosrun topic_demo talker
   

4. run topic_demo listener

   source /opt/ros/noetic/setup.bash
   cd catkin_ws
   source devel/setup.bash
   rosrun topic_demo listener